[JesseK]

How are the stress loads of robot movement transferred between the wheel and frame? What kinds of stress testing has this module undergone? Finally, is it possible for extreme heat from CIM abuse to transfer through the steel/aluminum and warp the plastic beaings over the course of a competition?

Am I the only one who really likes the tensioner that mounts directly to the rotatable CIM? The overall concept seems a bit high risk/reward to me, but the little things that make it more compact are the real genius of the design IMO.